3D Flexible Rod Network for Robot Sensing in Unstructured Environments
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Solution Overview
Problem
Existing robot designs for unstructured environments are complex, costly, and require numerous parts and advanced sensing and control systems, making them inefficient and difficult to adapt to diverse terrains and environments.
Innovation Solution
A self-adaptive robot network structure comprising a three-dimensional network formed by connecting rods between non-coplanar nodes, with a hollow flexible rod structure that deforms to adapt to environmental geometry, and an integrated sensing system using a light source, photosensitive device, and optical signal processor to detect physical deformations and perceive the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid materials and complex mechanical structures are used for robot structural design, then structural strength and stability are improved, but adaptability to unstructured environments deteriorates
Solution Approach 1:
The patent applies flexible rods as the primary structural element, replacing traditional rigid mechanical structures. These flexible rods can bend and deform to adapt to unstructured environments while maintaining structural integrity, directly resolving the contradiction between strength and adaptability
Solution Approach 2:
The patent introduces dynamic characteristics by allowing the flexible rod structure to change its configuration in response to environmental conditions. The structure transitions from static rigid forms to dynamic flexible forms that can adapt their shape and posture for different tasks
2Adaptability or versatility
If dozens of drivers and parts are introduced to imitate human hand flexible structure, then grasping adaptability is improved, but device complexity increases
Solution Approach 1:
The flexible rod structure is self-adaptive and requires no external control systems or multiple drivers. The structure automatically conforms to object shapes through its inherent flexibility, eliminating the need for complex actuation systems while maintaining high grasping adaptability
Solution Approach 2:
The patent extracts and eliminates the complex driver systems and control mechanisms from traditional robotic grippers, retaining only the essential flexible structural element that provides adaptability without requiring numerous parts
3Adaptability or versatility
If complex mechanical structures and specially designed drivers are used for biped robots, then terrain adaptability is improved, but device complexity increases
Solution Approach 1:
The patent applies flexible rod structures to biped robot limbs, replacing complex mechanical joints and specially designed drivers with simple flexible elements that naturally adapt to terrain variations through deformation, reducing mechanical complexity while maintaining terrain adaptability
4Reliability
If traditional mechanical arms with complex structure are used in underwater environments, then collision avoidance capability is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies flexible rod structures for underwater mechanical arms that can bend and deform to avoid collisions with coral and other fragile elements. The flexibility itself provides the collision avoidance capability without requiring complex sensors, control systems, or protective structures
Solution Approach 2:
The patent converts the potential harm of rigid structure collision into benefit by using flexible structures that naturally absorb impact through deformation, turning what would be a damaging rigid collision into a benign bending response that protects both the robot and the environment
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The robot achieves self-adaptive interaction and perception in unstructured environments with a simpler structure, fewer parts, and reduced complexity, enabling efficient operation in various scenarios, including harsh environments, while minimizing environmental impact.
Implementation Method 1
light emitted by the light source device enters a hollow channel of the connecting rod through the optical path entrance and is transmitted to the photosensitive device through the optical path exit
Implementation Method 2
the optical signal processor processes optical signals of the light source device and the photosensitive device, and converts the optical signals into deformation signals of the robot network structure
Data Source
AI summary
The invention discloses a robot network structure suitable for an unstructured environment and a sensing system. The robot network structure is a basic unit or superposition of multiple basic units. An upper structure of the basic unit comprises at least two first nodes, and a lower structure comprises at least two second nodes which are not coplanar with the at least two first nodes. All the first nodes and all the second nodes form a three-dimensional network structure through connecting rods. According to the invention, when a lateral acting force from the external environment is received, the connecting rod of the three-dimensional network structure undergoes concave deformation in a space to adapt to a geometric structure of the external environment, thereby enabling a robot to realize physical interaction in the unstructured environment; and on top of this, a hollow structure of the connecting rod may be directly used as an optical path or a single or multiple optical fiber loops may be embedded therein, and the physical deformation of the connecting rod is detected by measuring the change of light flux, so that the robot may realize the physical perception of the unstructured environment during interaction.